International Journal of Social Robotics

, Volume 2, Issue 3, pp 329–343 | Cite as

Synthesizing Robot Motions Adapted to Human Presence

A Planning and Control Framework for Safe and Socially Acceptable Robot Motions
  • Emrah Akin Sisbot
  • Luis F. Marin-Urias
  • Xavier Broquère
  • Daniel Sidobre
  • Rachid Alami


With robotics hardware becoming more and more safe and compliant, robots are not far from entering our homes. The robot, that will share the same environment with humans, will be expected to consider the geometry of the interaction and to perform intelligent space sharing.

In this case, even the simplest tasks, e.g. handing over an object to a person, raise important questions such as: where the task should be achieved?; how to place the robot relatively to the human in order to ease the human action?; how to hand over an object?; and more generally, how to move in a relatively constrained environment in the presence of humans?

In this paper we present an integrated motion synthesis framework from planning to execution that is especially designed for a robot that interacts with humans. This framework, composed of Perspective Placement, Human Aware Manipulation Planner and Soft Motion Trajectory Planner, generates robot motions by taking into account human’s safety; his vision field and his perspective; his kinematics and his posture along with the task constraints.


Human-Robot Interaction Motion Planning Perspective Taking 


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Copyright information

© Springer Science & Business Media BV 2010

Authors and Affiliations

  • Emrah Akin Sisbot
    • 1
    • 2
  • Luis F. Marin-Urias
    • 1
    • 2
  • Xavier Broquère
    • 1
    • 2
  • Daniel Sidobre
    • 1
    • 2
  • Rachid Alami
    • 1
    • 2
  1. 1.CNRSLAASToulouseFrance
  2. 2.UPS, INSA, INP, ISAE, LAASUniversité de ToulouseToulouseFrance

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